CollisionObject.hpp

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#ifndef DART_COLLISION_COLLISIONOBJECT_HPP_
#define DART_COLLISION_COLLISIONOBJECT_HPP_
 
#include <Eigen/Dense>
 
#include "dart/collision/SmartPointer.hpp"
#include "dart/dynamics/SmartPointer.hpp"
 
namespace dart {
namespace collision {
 
class CollisionObject
{
public:
  friend class CollisionGroup;
 
  virtual ~CollisionObject() = default;
 
  CollisionDetector* getCollisionDetector();
 
  const CollisionDetector* getCollisionDetector() const;
 
  const dynamics::ShapeFrame* getShapeFrame() const;
 
  dynamics::ConstShapePtr getShape() const;
 
  const Eigen::Isometry3d& getTransform() const;
 
protected:
  CollisionObject(
      CollisionDetector* collisionDetector,
      const dynamics::ShapeFrame* shapeFrame);
 
  virtual void updateEngineData() = 0;
 
protected:
  CollisionDetector* mCollisionDetector;
 
  const dynamics::ShapeFrame* mShapeFrame;
};
 
} // namespace collision
} // namespace dart
 
#endif // DART_COLLISION_COLLISIONOBJECT_HPP_